function [ alpha, beta, gamma ] =  convertRotationMatrix2ZYXEulerAngles (R)
   
    r11 = R(1,1);
    %r12 = R(1,2);
    %r13 = R(1,3);
    
    r21 = R(2,1);
    %r22 = R(2,2);
    %r23 = R(2,3);
    
    r31 = R(3,1);
    r32 = R(3,2);
    r33 = R(3,3);

    beta = atan2( -r31, sqrt(r11^2 + r21^2) );
    
    alpha = atan2( r21/cos(beta), r11/cos(beta) );
    
    gamma = atan2( r32/cos(beta), r33/cos(beta) );
    
    
